% Configuration file

% Waypoint proximity
SWITCH_WP_DISTANCE = 10; % centimeters, distance from current waypoint at which to switch to next waypoint
NUMBER_LOOPS = 3; % number of loops through the waypoint list

% Control parameters
MAX_T = 50; % cm
MAX_R = (5*pi/180); % degree

% control noises
SIGMA_DISTANCE = 10; % cm % 0.05
SIGMA_ANGLE = (0.5*pi/180); % rad
Q= [SIGMA_DISTANCE^2 0 0 0 0 0;
    0 SIGMA_DISTANCE^2 0 0 0 0;
    0 0 SIGMA_DISTANCE^2 0 0 0;
    0 0 0 SIGMA_ANGLE^2 0 0;
    0 0 0 0 SIGMA_ANGLE^2 0;
    0 0 0 0 0 SIGMA_ANGLE^2];



% observation noises
SIGMA_X = 5; % cm
SIGMA_Y = 5; % cm
SIGMA_Z = 5; % cm
R= [SIGMA_X^2 0 0;
    0 SIGMA_Y^2 0;
    0 0 SIGMA_Z^2];



% observation parameters
MAX_RANGE= 299; % centimeter
OBSERVE_INTERVAL = 1; % interval between observations

% switches
SWITCH_CONTROL_NOISE= 1;
SWITCH_SENSOR_NOISE = 1;
SWITCH_RESAMPLE= 1; 
SWITCH_SAMPLE_PROPOSAL = 1;

% resampling
NR_PARTICLES= 25; %//100
NEFFECTIVE= 0.5*NR_PARTICLES; % minimum number of effective particles before resampling

